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<div class="title">warp.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">* Software License Agreement (BSD License)</span></div>
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<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">*  Copyright (c) 2011, Willow Garage, Inc.</span></div>
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<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment">*  Author: Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment">*/</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160; </div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="preprocessor">#ifndef PCL_DEVICE_UTILS_WARP_HPP_</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#define PCL_DEVICE_UTILS_WARP_HPP_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;{</div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;    <span class="keyword">namespace </span>device</div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    {</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;        <span class="keyword">struct </span>Warp</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;        {</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;            <span class="keyword">enum</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;            {</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;                LOG_WARP_SIZE = 5,</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;                WARP_SIZE     = 1 &lt;&lt; LOG_WARP_SIZE,</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;                STRIDE        = WARP_SIZE</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;            };</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160; </div>
<div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="structpcl_1_1device_1_1_warp.html#a48dec3419018e143da7a9d015a7d4810">   54</a></span>&#160;            <span class="keyword">static</span> __device__ __forceinline__ <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="structpcl_1_1device_1_1_warp.html#a48dec3419018e143da7a9d015a7d4810">laneId</a>()</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;            {</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;                <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> ret;</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;                <span class="keyword">asm</span>(<span class="stringliteral">&quot;mov.u32 %0, %laneid;&quot;</span> : <span class="stringliteral">&quot;=r&quot;</span>(ret) );</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;                <span class="keywordflow">return</span> ret;</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;            }</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160; </div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;            <span class="keyword">static</span> __device__ __forceinline__ <span class="keywordtype">int</span> laneMaskLe()</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;            {</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;<span class="preprocessor">#if (__CUDA_ARCH__ &gt;= 200)</span></div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;                <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> ret;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;                <span class="keyword">asm</span>(<span class="stringliteral">&quot;mov.u32 %0, %lanemask_le;&quot;</span> : <span class="stringliteral">&quot;=r&quot;</span>(ret) );</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;                <span class="keywordflow">return</span> ret;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;<span class="preprocessor">#else</span></div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;                <span class="keywordflow">return</span> 0xFFFFFFFF &gt;&gt; (31 - <a class="code" href="structpcl_1_1device_1_1_warp.html#a48dec3419018e143da7a9d015a7d4810">laneId</a>());</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;            }</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160; </div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;            <span class="keyword">static</span> __device__ __forceinline__ <span class="keywordtype">int</span> laneMaskLt()</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;            {</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;<span class="preprocessor">#if (__CUDA_ARCH__ &gt;= 200)</span></div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;                <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> ret;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;                <span class="keyword">asm</span>(<span class="stringliteral">&quot;mov.u32 %0, %lanemask_lt;&quot;</span> : <span class="stringliteral">&quot;=r&quot;</span>(ret) );</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;                <span class="keywordflow">return</span> ret;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;<span class="preprocessor">#else</span></div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;                <span class="keywordflow">return</span> 0xFFFFFFFF &gt;&gt; (32 - <a class="code" href="structpcl_1_1device_1_1_warp.html#a48dec3419018e143da7a9d015a7d4810">laneId</a>());</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;            }</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;            <span class="keyword">static</span> __device__ __forceinline__ <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> id()</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;            {</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;                <span class="keywordtype">int</span> tid = threadIdx.z * blockDim.x * blockDim.y + threadIdx.y * blockDim.x + threadIdx.x;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;                <span class="keywordflow">return</span> tid &gt;&gt; LOG_WARP_SIZE;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;            }</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160; </div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;            <span class="keyword">static</span> __device__ __forceinline__ <span class="keywordtype">int</span> binaryInclScan(<span class="keywordtype">int</span> ballot_mask)</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;            {</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;                 <span class="keywordflow">return</span> __popc(Warp::laneMaskLe() &amp; ballot_mask);</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;            }</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160; </div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;            <span class="keyword">static</span> __device__ __forceinline__ <span class="keywordtype">int</span> binaryExclScan(<span class="keywordtype">int</span> ballot_mask)</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;            {</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;                 <span class="keywordflow">return</span> __popc(Warp::laneMaskLt() &amp; ballot_mask);</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;            }            </div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; </div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;            <span class="keyword">template</span>&lt;<span class="keyword">typename</span> It, <span class="keyword">typename</span> T&gt;</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;            <span class="keyword">static</span> __device__ __forceinline__ <span class="keywordtype">void</span> fill(It beg, It end, <span class="keyword">const</span> T&amp; value)</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;            {                </div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;                <span class="keywordflow">for</span>(It t = beg + <a class="code" href="structpcl_1_1device_1_1_warp.html#a48dec3419018e143da7a9d015a7d4810">laneId</a>(); t &lt; end; t += STRIDE)</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;                    *t = value;</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;            }            </div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160; </div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;            <span class="keyword">template</span>&lt;<span class="keyword">typename</span> InIt, <span class="keyword">typename</span> OutIt&gt;</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;            <span class="keyword">static</span> __device__ __forceinline__ OutIt copy(InIt beg, InIt end, OutIt out)</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;            {      </div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;                <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> lane = <a class="code" href="structpcl_1_1device_1_1_warp.html#a48dec3419018e143da7a9d015a7d4810">laneId</a>();               </div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;                InIt  t = beg + lane;</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;                OutIt o = out + lane;</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;                <span class="keywordflow">for</span>(; t &lt; end; t += STRIDE, o += STRIDE)</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;                    *o = *t;</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;                <span class="keywordflow">return</span> o;</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;            }            </div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;           </div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;            <span class="keyword">template</span>&lt;<span class="keyword">typename</span> InIt, <span class="keyword">typename</span> OutIt, <span class="keyword">class</span> UnOp&gt;</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;            <span class="keyword">static</span> __device__ __forceinline__ OutIt transform(InIt beg, InIt end, OutIt out, UnOp op)</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;            {</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;                <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> lane = <a class="code" href="structpcl_1_1device_1_1_warp.html#a48dec3419018e143da7a9d015a7d4810">laneId</a>();</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;                InIt  t = beg + lane;</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;                OutIt o = out + lane;</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160; </div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;                <span class="keywordflow">for</span>(InIt t = beg + <a class="code" href="structpcl_1_1device_1_1_warp.html#a48dec3419018e143da7a9d015a7d4810">laneId</a>(); t &lt; end; t += STRIDE, o += STRIDE)</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;                    *o = op(*t);</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;                <span class="keywordflow">return</span> o;</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;            }</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160; </div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;            <span class="keyword">template</span>&lt;<span class="keyword">typename</span> InIt1, <span class="keyword">typename</span> InIt2, <span class="keyword">typename</span> OutIt, <span class="keyword">class</span> BinOp&gt;</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;            <span class="keyword">static</span> __device__ __forceinline__ OutIt transform(InIt1 beg1, InIt1 end1, InIt2 beg2, OutIt out, BinOp op)</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;            {</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;                <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> lane = <a class="code" href="structpcl_1_1device_1_1_warp.html#a48dec3419018e143da7a9d015a7d4810">laneId</a>();                </div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;                InIt1 t1 = beg1 + lane; </div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;                InIt2 t2 = beg2 + lane;</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;                OutIt o  = out  + lane;</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;            </div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;                <span class="keywordflow">for</span>(; t1 &lt; end1; t1 += STRIDE, t2 += STRIDE, o += STRIDE)</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;                    *o = op(*t1, *t2);</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;                <span class="keywordflow">return</span> o;</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;            }</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160; </div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;            <span class="keyword">template</span>&lt;<span class="keyword">typename</span> OutIt, <span class="keyword">typename</span> T&gt;</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;            <span class="keyword">static</span> __device__ __forceinline__ <span class="keywordtype">void</span> yota(OutIt beg, OutIt end, T value)</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;            {</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;                <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> lane = <a class="code" href="structpcl_1_1device_1_1_warp.html#a48dec3419018e143da7a9d015a7d4810">laneId</a>();                </div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;                value += lane;</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160; </div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;                <span class="keywordflow">for</span>(OutIt t = beg + lane; t &lt; end; t += STRIDE, value += STRIDE)</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;                    *t = value;</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;            }</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160; </div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;            <span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keyword">class</span> BinOp&gt;</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;            <span class="keyword">static</span> __device__ __forceinline__ <span class="keywordtype">void</span> reduce(<span class="keyword">volatile</span> T* buffer, BinOp op)</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;            {</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;                <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> lane = <a class="code" href="structpcl_1_1device_1_1_warp.html#a48dec3419018e143da7a9d015a7d4810">laneId</a>();</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;                T val =  buffer[lane];                </div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160; </div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;                <span class="keywordflow">if</span> (lane &lt; 16) </div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;                {</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;                    buffer[lane] = val = op(val, buffer[lane + 16]);</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;                    buffer[lane] = val = op(val, buffer[lane +  8]);</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;                    buffer[lane] = val = op(val, buffer[lane +  4]);</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;                    buffer[lane] = val = op(val, buffer[lane +  2]);</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;                    buffer[lane] = val = op(val, buffer[lane +  1]);</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;                }</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;            }</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160; </div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;            <span class="keyword">template</span>&lt;<span class="keyword">typename</span> T, <span class="keyword">class</span> BinOp&gt;</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;            <span class="keyword">static</span> __device__ __forceinline__ T reduce(<span class="keyword">volatile</span> T* buffer, T init, BinOp op)</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;            {</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;                <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> lane = <a class="code" href="structpcl_1_1device_1_1_warp.html#a48dec3419018e143da7a9d015a7d4810">laneId</a>();                </div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;                T val = buffer[lane] = init;</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;                </div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;                <span class="keywordflow">if</span> (lane &lt; 16) </div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;                {</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;                    buffer[lane] = val = op(val, buffer[lane + 16]);</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;                    buffer[lane] = val = op(val, buffer[lane +  8]);</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;                    buffer[lane] = val = op(val, buffer[lane +  4]);</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;                    buffer[lane] = val = op(val, buffer[lane +  2]);</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;                    buffer[lane] = val = op(val, buffer[lane +  1]);</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;                }</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;                <span class="keywordflow">return</span> buffer[0];</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;            }       </div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;        };</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;    }</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;}</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160; </div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* PCL_DEVICE_UTILS_WARP_HPP_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="astructpcl_1_1device_1_1_warp_html_a48dec3419018e143da7a9d015a7d4810"><div class="ttname"><a href="structpcl_1_1device_1_1_warp.html#a48dec3419018e143da7a9d015a7d4810">pcl::device::Warp::laneId</a></div><div class="ttdeci">static __device__ __forceinline__ unsigned int laneId()</div><div class="ttdoc">Returns the warp lane ID of the calling thread.</div><div class="ttdef"><b>Definition:</b> warp.hpp:54</div></div>
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